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Thread: Kinect Teleoperation of KHR1-HV using ROS

  1. Kinect Teleoperation of KHR1-HV using ROS

    Hi everyone check out this video I just put together of my KHR1-HV

    Last edited by veltrop; 12-29-2010 at 08:19 PM. Reason: fix youtube linke

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    You made plastic pals...good job!

    http://www.plasticpals.com/?p=26382

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    Simply awesome! Though I think you forgot the link to the video in your post. (I saw it on the Willow Garage site.)

    Congratulations!!

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    The most exciting part to me is theoretically 90% of your project could be reused on other Dynamixel-based robots a lot of people have on this forum. It definitely shold give everybody a great start.

    I was following your projects Tylor since you announced porting your humanoid to ROS.
    It's amazing how far you went from Lego.

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    Wow, thats awesome!
    Looks like doing IK for each arm would be one better solution (like you mentioned in the video).
    Kåre Halvorsen aka Zenta
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    Zenta's YouTube channel
    Zenta's Blog
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  6. Re: Kinect Teleoperation of KHR1-HV using ROS

    Thanks for the flattering comments! Sorry for the technical difficulties on the YouTube link.

    RobotNV: Yes the code is so reusable! The functionality of the Roboard layer of the control system can easily be replaced with whatever one needs for their micro controller. You just need something that controls servos that responds to ROS joint state messages, possibly also broadcast a few sensor topics, and you are set!

    If other people get involved in the code I'd love to see improvements in the motion scripting system, GUI's etc.
    I better get my next point release out soon! After I finish implementing a GUI for pose capturing of the robot over the next week or two it'll be ready.

    Wouldn't it be great to use the Kinect to script motions and poses for the Robot?

    Zenta: Before I can do the IK to its full benefit I think I need a better virtual model of the robot. Then I can do motion planning for the arm with collision detection and everything.

    I get a pretty good collision map from the stereo camera, this is just the beginning!

    Pi Robot: Btw, I've been meaning to look at your great usage of the navigation stack to figure out how to integrate that stuff into Veltrobot.

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    Hi Taylor,

    I am trying out your super cool Kinect ROS code and I ran into a small snag that will probably be obvious to you. I am following your directions from the Willow Garage site and I am using the latest from your SVN repository as well as the latest OpenNI code. My Kinect is up and running OK and I can view the point cloud in RViz. I am trying your instructions for the simulated humanoid. Steps 1-3 execute fine and I see your humanoid model in RViz. But when executing Step 4 I get:

    $ roslaunch veltrobot_teleop kinect_teleop.launch

    process[teleop_kinect-1]: started with pid [21982]
    process[kinect_base_link-2]: started with pid [21983]
    process[kinect_base_link1-3]: started with pid [21984]
    process[kinect_base_link2-4]: started with pid [21989]
    InitFromXml failed: File not found!
    process[kinect_base_link3-5]: started with pid [22005]
    [teleop_kinect-1] process has died [pid 21982, exit code -11].
    log files: /home/patrick/.ros/log/997bae2a-11ec-11e0-8854-8c736e77238f/teleop_kinect-1*.log


    Any idea what that InitFromXml error is about?

    Thanks!

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

  8. Re: Kinect Teleoperation of KHR1-HV using ROS

    Thank you for trying out the code and reporting this to me Patrick.

    In the KinectController.cpp, line 6 there is a hard coded path...! I'll fix that when I get back from my New Years trip. But for now, change
    #define SAMPLE_XML_PATH "/home/space/ni/ni/openni/lib/SamplesConfig.xml"
    to match your setup.

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    Re: Kinect Teleoperation of KHR1-HV using ROS

    Thanks Taylor--that was it exactly. And now it works beautifully. Really nice!

    --patrick
    The Pi Robot Project
    http://www.pirobot.org

  10. Re: Kinect Teleoperation of KHR1-HV using ROS

    Glad it's working for you now. Fixed in the 0.2.1 release.

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